Systems and methods for preparing a worksite for additive construction

Abstract

A system for preparing a worksite for an additive construction operation includes a positioning system configured to determine positioning signals including topographical characteristics of the worksite. An additive construction plan includes, at least, structure placement data, configured for a desired location for constructing the structure, and toolpath instructions for guiding the implement to construct the structure. A controller is configured to determine a construction zone on the worksite based on the structure placement data and the topographical characteristics of the worksite. The controller is further configured for determining if the construction zone is readied for execution of the toolpath instructions at the construction zone and, if the construction zone is not readied for such execution, identifying one or more impediments to construction at the worksite, within the construction zone, based on the topographical characteristics of the worksite.

What is claimed is: 
     
       1. A system for preparing a worksite for an additive construction operation, the additive construction operation performed by an implement associated with a machine, the system comprising:
 a positioning system including one or more perception sensors, the positioning system configured to determine positioning signals, the positioning signals including topographical characteristics of the worksite; 
 a memory, the memory configured to store, at least, an additive construction plan, the additive construction plan for use in planning additive construction and controlling the implement during construction of a structure, the additive construction plan including, at least, structure placement data, configured for a desired location for constructing the structure, and toolpath instructions for guiding the implement to construct the structure; and 
 a controller, including a processor, configured to:
 receive, at least, the topographical characteristics of the positioning signals, from the positioning system, 
 access the additive construction plan, from the memory, 
 determine a construction zone on the worksite based on the structure placement data and the topographical characteristics of the worksite, 
 determine if the construction zone is readied for execution of the toolpath instructions at the construction zone, and 
 identifying one or more impediments to construction at the worksite, within the construction zone, based on the topographical characteristics of the worksite, if the construction zone is not readied for execution of the toolpath instructions at the construction zone. 
 
 
     
     
       2. The system of  claim 1 , wherein the additive construction plan includes worksite parameters for a structure zone, the worksite parameters being topographical conditions that must be substantially met prior to executing the toolpath instructions, and
 wherein determining if the construction zone is readied for execution of the toolpath instructions, by the controller, includes analyzing the topographical characteristics of the construction zone and determining if the topographical characteristics of the construction zone meet the worksite parameters. 
 
     
     
       3. The system of  claim 2 , wherein the worksite parameters include a base elevation for the worksite, at the structure zone, and
 wherein determining if the construction zone is readied for execution of the toolpath instructions, by the controller, further includes: 
 determining a construction elevation for the construction zone, 
 comparing the construction elevation with the base elevation for the worksite, and 
 indicating that the construction zone is not ready for execution of the toolpath instructions if the construction elevation is not substantially similar to the base elevation. 
 
     
     
       4. The system of  claim 3 , wherein the one or more impediments to construction at the worksite includes, at least, an obstructive mass present at the structure zone, the obstructive masses being a mass rising above the base elevation, and
 wherein identifying one or more impediments to construction at the construction zone, by the controller, includes identifying the obstructive mass if the comparison of the construction elevation and the base elevation for the worksite indicates that a mass, having a maximum height greater than the base elevation, exists in the construction zone. 
 
     
     
       5. The system of  claim 4 , wherein the controller is further configured to generate instructions for removing the obstructive mass from the construction zone, if the comparison of the construction elevation and the base elevation for the worksite indicates that a mass having a maximum height greater than the base elevation exists in the construction zone. 
     
     
       6. The system of  claim 3 , wherein the one or more impediments to construction at the worksite includes, at least, a heightened elevation at the worksite, the heightened elevation being an elevation greater than the base elevation for the worksite, and
 wherein identifying one or more impediments to construction at the worksite, by the controller, includes identifying the heightened elevation at the worksite if the comparison of the construction elevation and the base elevation for the worksite indicates that the construction elevation is greater than the base elevation for the worksite. 
 
     
     
       7. The system of  claim 6 , wherein the controller is further configured to generate instructions for removing materials from the construction zone to lower the heightened elevation at the construction zone to an approximated base elevation, which is substantially similar to the base elevation, if the construction elevation is greater than the base elevation for the worksite. 
     
     
       8. The system of  claim 3 , wherein the one or more impediments to construction at the worksite includes, at least, a low elevation at the worksite, the low elevation being an elevation less than the base elevation for the worksite, and
 wherein identifying one or more impediments to construction at the worksite, by the controller, includes identifying the low elevation at the worksite if the comparison of the construction elevation and the base elevation for the worksite indicates that the construction elevation is less than the base elevation for the worksite. 
 
     
     
       9. The system of  claim 8 , wherein the controller is further configured to generate instructions for depositing materials from the construction zone to raise the low elevation at the construction zone to an approximated base elevation, which is substantially similar to the base elevation, if the construction elevation is less than the base elevation for the worksite. 
     
     
       10. The system of  claim 1 , wherein the one or more perception sensors are configured to:
 raster scan the worksite to capture three-dimensional information associated with the worksite, and 
 determine a three-dimensional terrain map, as part of the positioning signals. 
 
     
     
       11. The system of  claim 1 , wherein the toolpath instructions include, at least, toolpath instructions for a base of the structure, and
 wherein the one or more perception sensors are configured:
 to scan, at least in part, the worksite along the toolpath instructions for a base, and 
 determine a three-dimensional terrain map, as part of the positioning signals. 
 
 
     
     
       12. The system of  claim 1 , wherein the perception sensors include, at least, a LiDAR sensor. 
     
     
       13. A system for performing additive construction operations on a worksite, the additive construction operations associated with an additive construction plan for constructing a structure, the additive construction plan for controlling the implement during construction of the structure, the additive construction plan including, at least, structure placement data, configured for a desired location for constructing the structure, and toolpath instructions for guiding the implement to construct the structure, the system comprising:
 an implement configured to additively construct the structure in accordance with the additive construction plan; 
 a machine operatively associated with the implement and including: 
 one or more control actuators operatively associated with the implement, each of the one or more actuators configured to position the implement, with respect to the machine; and 
 a power source providing power to at least one of the one or more control actuators to perform functions of the machines a positioning system including one or more perception sensors, the positioning system configured to determine positioning signals, the positioning signals including topographical characteristics of the worksite; and
 a controller, including a processor, configured to:
 receive, at least, the topographical characteristics of the positioning signals, from the positioning system, 
 access the additive construction plan, 
 determine a construction zone on the worksite based on structure placement data and the topographical characteristics of the worksite, 
 determine if the construction zone is readied for execution of the toolpath instructions at the construction zone, 
 identifying one or more impediments to construction at the worksite, within the construction zone, based on the topographical characteristics of the worksite, if the construction zone is not readied for execution of the toolpath instructions at the construction zone, and 
 instruct the one or more control actuators of the machine to position the implement for performing the additive construction operations in accordance with the toolpath instructions, if the construction zone is readied for execution of the toolpath instructions at the construction zone. 
 
 
 
     
     
       14. The system of  claim 13 , wherein the additive construction plan includes worksite parameters for a structure zone, the worksite parameters being topographical conditions that must be substantially met prior to executing the toolpath instructions, the worksite parameters including, at least, a base elevation for the worksite, at the structure zone, and
 wherein determining if the construction zone is readied for execution of the toolpath instructions, by the controller, further includes:
 determining a construction elevation for the construction zone, 
 compare the construction elevation with the base elevation for the worksite, and 
 indicate that the construction zone is not ready for execution of the toolpath instructions if the construction elevation is not substantially similar to the base elevation. 
 
 
     
     
       15. The system of  claim 14 , wherein the one or more impediments to construction at the worksite include one or more of an obstructive mass present at the structure zone, a heightened elevation at the structure zone, a low elevation at the structure zone, and any combinations thereof,
 wherein the obstructive mass is a mass rising above the base elevation, the heightened elevation is an elevation greater than the base elevation for the worksite, and the low elevation is an elevation less than the base elevation for the worksite, and 
 wherein identifying one or more impediments to construction at the worksite, by the controller, includes analyzing the comparison of the construction elevation and the base elevation to determine a discrepancy in elevation, 
 wherein the discrepancy in elevation will be that the construction elevation is greater than the base elevation when an obstructive mass or heightened elevation is present at the structure zone, and 
 wherein the discrepancy in elevation will be that the construction elevation is less than the base elevation when a low elevation is present at the structure zone. 
 
     
     
       16. The system of  claim 15 , further comprising an earthmoving machine configured to move materials at the worksite,
 wherein the controller is further configured to:
 generate instructions for depositing materials from the construction zone, if the one or more impediments to construction is a low elevation, to raise the low elevation at the construction zone to an approximated base elevation, which is substantially similar to the base elevation, if the construction elevation is less than the base elevation for the worksite, and 
 transmit the instructions for depositing materials to the earthmoving machine, and 
 
 wherein the earthmoving machine is configured to move materials in accordance with the instructions for depositing materials. 
 
     
     
       17. The system of  claim 15 , further comprising an earthmoving machine configured to move materials at the worksite,
 wherein the controller is further configured to:
 generate instructions for removing materials from the construction zone, if the one or more impediments to construction includes one or more of the heightened elevation and the obstructive mass, to lower the elevation, at least in part, at the construction zone to an approximated base elevation, which is substantially similar to the base elevation, if the construction elevation is, at least in part, greater than the base elevation for the worksite, and 
 transmit the instructions for depositing materials to the earthmoving machine, and 
 
 wherein the earthmoving machine is configured to move materials in accordance with the instructions for removing materials. 
 
     
     
       18. The system of  claim 13 , further comprising a fleet management system configured to:
 receive information regarding the one or more impediments to construction at the worksite from the controller, if one or more impediments to construction at the worksite exist, and 
 dispatch one or more of the machine, an earthmoving machine, and any combinations thereof, to rectify the one or more impediments to construction at the worksite, if the one or more impediments to construction at the worksite exist, and 
 wherein the controller is further configured to determine and transmit the information regarding the one or more impediments to construction at the worksite from the controller, if one or more impediments to construction at the worksite exist. 
 
     
     
       19. A method for preparing a worksite for an additive construction operation, the additive construction operation performed by an implement associated with a machine, the method comprising:
 determining positioning signals, using a positioning system including one or more perception sensors, the positioning signals including, at least, topographical characteristics of the worksite; 
 accessing, by a controller, an additive construction plan, the additive construction plan for use in planning additive construction and controlling the additive construction implement during construction of a structure, the additive construction plan including, at least, structure placement data, configured for a desired location for constructing the structure, and toolpath instructions for guiding the implement to construct the structure; 
 receiving, by the controller, the topographical characteristics of the positioning signals, from the positioning system; 
 determining, by the controller, a construction zone on the worksite based on the structure placement data and the topographical characteristics of the worksite; 
 determining, by the controller, if the construction zone is readied for execution of the toolpath instructions at the construction zone; and 
 identifying, by the controller, one or more impediments to construction at the worksite, within the construction zone, based on the topographical characteristics of the worksite, if the construction zone is not readied for execution of the toolpath instructions at the construction zone. 
 
     
     
       20. The method of  claim 19 , wherein the additive construction plan includes worksite parameters for a structure zone, the worksite parameters being topographical conditions that must be substantially met prior to executing the toolpath instructions, the worksite parameters including, at least, a base elevation for the worksite, at the structure zone, and
 wherein determining if the construction zone is readied for execution of the toolpath instructions, by the controller, includes:
 analyzing the topographical characteristics of the construction zone and determining if the topographical characteristics of the construction zone meet the worksite parameters, 
 determining a construction elevation for the construction zone, 
 comparing the construction elevation with the base elevation for the worksite, and 
 indicating that the construction zone is not ready for execution of the toolpath instructions if the construction elevation is not substantially similar to the base elevation.